JPWO2019073665A1 - Endoscope - Google Patents

Abstract

The operation unit 30, wires 21u to 21l whose one end is connected to the bending portion and the other end is connected to the rotating body 31, and wire fixing portions 25u to 25l to which the other ends of the wires 21u to 21l are separately fixed, respectively. , And grooves 32u to 32l for restricting the intermediate portions of the wires 21u to 21l corresponding to the rotating direction of the rotating body 31 to be wound around the rotating body 31 as the wire rotates.

Description

The present invention relates to a wire pulling device for an endoscope, which includes a wire having one end connected to a member to be pulled and the other end connected to a rotating body of an operation unit.

In recent years, endoscopes have been widely used in the medical field and industrial field. In addition, a configuration in which a bending portion that is bendable in a plurality of directions is provided on the distal end side of the insertion portion of the endoscope is well known.

The bending portion improves the advancing property of the insertion portion in the bending portion in the subject, and also changes the observation direction of the observation optical system provided at the tip portion located closer to the tip end than the bending portion in the insertion portion.

As an example, one pair or two pairs of which one end is fixed to a bending portion that is a towed member in the insertion portion of the endoscope and the operation portion of the endoscope that is continuously provided at the proximal end of the insertion portion, respectively. That is, two or four wires are inserted.

It is well known that any one of the four wires is pulled by an angle knob mechanism that is a wire pulling device for an endoscope provided in an operation portion of the endoscope.

Specifically, in the angle knob mechanism, two vertical wires that are wound around a vertical sprocket that is connected to a rotary shaft of a vertical bending operation knob that is an operation unit and that rotates together with the vertical bending operation knob. One of the two is pulled along with the rotation of the up/down bending operation knob, and is wound around the left/right sprocket that is connected to the rotation axis of the left/right bending operation knob as an operation unit and rotates with the left/right bending operation knob. One of the two left and right wires thus pulled is pulled along with the rotation of the left and right bending operation knob, so that the bending portion is bendable in any of the four directions of up, down, left and right.

In the angle knob mechanism, one of the bending operation knob, the rotating shaft, and the two wires wound around the sprocket is pulled, so that the bending portion moves in one of two vertical directions. Alternatively, a configuration that is curved in either the left or right direction is also known.

Further, in Japanese Unexamined Patent Application Publication No. 2017-23470, in order to realize an intuitive bending operation of a bending portion by an operator, one of four wires is provided in an operation portion of an endoscope. A configuration in which a joystick mechanism that is a wire pulling device for an endoscope is pulled is disclosed.

Specifically, in the joystick mechanism, the other ends of the four wires for up, down, left, and right are connected to the respective ends of the cross of the cross shaped frame of the bending operation lever which is the operation unit. In addition, the bending operation lever is tilted in any of the four directions of up, down, left, and right, and one of the four wires is pulled, so that the bending portion moves up and down. It is configured to be bendable in any of the left and right directions.

In the joystick mechanism, the other ends of the two wires are connected to the respective ends of the linear frame of the bending operation lever. In addition, when the bending operation lever is tilted in the up/down direction or the left/right direction, one of the two wires is pulled, so that the bending portion is in either the up/down direction or the left/right direction. It is also well known that the structure is curved.

However, the joystick mechanism that pulls the wire with the tilt of the bending operation lever has the same diameter as the angle knob mechanism that winds the wire around the sprocket with the rotation of the bending operation knob and pulls the wire. However, since there is a limit to the tilting angle of the bending operation lever, there is a problem in that the wire pulling amount is reduced by more than about twice.

In view of such a problem, it is also possible to consider a configuration in which the tilt angle is increased by increasing the lever length of the bending operation lever. However, in this case, there is a problem that not only the joystick mechanism becomes large, but also the amount of tilting operation of the finger by the operator who operates the bending operation lever increases, resulting in poor operability.

It is also conceivable to separately provide a mechanism for increasing the pulling amount of the wire in the operation section. However, in this configuration, there is a problem that the joystick mechanism becomes complicated and the operating section becomes large, and that the amount of tilting force of the bending operation lever also doubles when the amount of wire pulling is doubled. There was such a problem.

Further, with the conventional angle knob mechanism, the wire pulling amount can be sufficiently secured without increasing the size of the device or increasing the operation force amount of the bending operation knob. However, in order to bend the bending portion in at least three directions, that is, to pull at least three wires, there is a problem that two mechanisms are required as described above.

The present invention has been made in view of the above problems, and it is possible to increase the pulling amount of at least three wires with one mechanism without increasing the size of the pulling mechanism while maintaining the operation force amount of the operation unit. It is an object of the present invention to provide a wire pulling device for an endoscope having a configuration that can be performed.

An endoscope wire pulling device according to an aspect of the present invention includes an operation unit including one rotating body that has a rotation center and is rotatably held in at least three directions around the rotation center; And at least three wires having the other end and an intermediate portion between the one end and the other end, the towed member being connected to the one end, and the other end being connected to the rotating body, At least three wire fixing portions provided on the rotating body, and the other ends of the at least three wires are separately fixed, respectively, and at least three directions along the at least three wires with respect to the operation unit. And a wire movement restricting portion that restricts the intermediate portion of the wire corresponding to the rotating direction of the rotating body of the at least three wires so as to be wound around the rotating body with the rotation. , Are provided.

1 is a perspective view of an endoscope including a wire pulling device for an endoscope according to a first embodiment. The figure which shows roughly the structure of the spherical joystick mechanism provided in the endoscope of FIG. The perspective view which expands and shows the operation unit of FIG. 2 in the state which the rotating body rotated to one direction with the wire. FIG. 3 is a top view of the operation unit of FIG. 3 seen from the IV direction in FIG. The top view which shows the non-rotating state of the rotating body in the operation unit of FIG. 3 is a perspective view showing a modified example in which the groove of the ball receiver of the operation unit of FIG. 3 is formed shallowly. The perspective view which shows the operating unit in the spherical joystick mechanism of 2nd Embodiment in the state which the rotating body rotated to one direction with the wire. FIG. 7 is a top view of the operation unit of FIG. 7 viewed from the VIII direction in FIG. 7. The top view which shows the non-rotating state of the rotating body in the operation unit of FIG. Sectional drawing of the operation unit along the line XX in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the drawings are schematic, and that the relationship between the thickness and the width of each member, the ratio of the thickness of each member, and the like are different from the actual ones. As a matter of course, there are included portions having different dimensional relationships and ratios.

(First embodiment)
FIG. 1 is a perspective view of an endoscope including the endoscope wire pulling device of the present embodiment.

As shown in FIG. 1, the endoscope 1 includes an insertion section 5 to be inserted into a subject and an operation section 6 connected to a proximal end side of the insertion section 5 so that a main part is configured. Has been done.

A universal cord (not shown) is extended from the operation unit 6, and the endoscope 1 is electrically connected to an external device such as a control device or a lighting device via a connector (not shown) provided at an extension end of the universal cord. Connected to each other.

The insertion portion 5 is configured to include a distal end portion 2, a bending portion 3 that is a towed member, and a flexible tube portion 4 in this order from the distal end side, and is formed in an elongated shape.

The bending portion 3 is bent in at least one of three directions by operating the operation unit 30 described later.

As a result, the bending portion 3 changes the observation direction of the observation optical system (not shown) provided in the distal end portion 2 and improves the insertability of the distal end portion 2 in the subject.

In the present embodiment, the bending portion 3 is supposed to be bendable in any of the four directions of up, down, left and right. Further, the flexible tube portion 4 is continuously provided on the base end side of the bending portion 3.

Further, in the endoscope 1, a spherical joystick mechanism 10 (see FIG. 2) that is a wire pulling device for an endoscope that bends the bending portion 3 in any of four directions is provided. Further, the operation unit 6 is provided with an operation unit 30 of the spherical joystick mechanism 10.

Next, the configuration of the spherical joystick mechanism 10 will be described with reference to FIGS. 2 is a diagram schematically showing a configuration of a spherical joystick mechanism provided in the endoscope of FIG. 1, and FIG. 3 is a diagram showing a state in which a rotating body is rotated in one direction together with a wire of the operation unit of FIG. FIG. 4 is an enlarged perspective view, FIG. 4 is a top view of the operation unit of FIG. 3 seen from the IV direction in FIG. 3, and FIG. 5 is a top view showing a non-rotating state of the rotating body in the operation unit of FIG. is there.

As shown in FIGS. 2 to 5, the spherical joystick mechanism 10 includes an operation unit 30 provided in the operation unit 6, and wires 21u, 21d, 21r, and 21l inserted through the insertion unit 5 and the operation unit 6, The wire receivers 25u, 25d, 25r, and 25l, which are wire fixing portions provided on the other ends 21ub, 21db, 21rb, and 21lb (the other end 21rb is not shown) of the wires 21u, 21d, 21r, and 21l, respectively. A main part is provided with grooves 32u, 32d, 32r, and 32l that are movement restricting portions and guide portions.

The operation unit 30 includes a ball 31, which is a rotating body, a ball receiver 32, which is a holding member, and an operator 33, and a main portion is configured.

The operation unit 30 is preferably provided so as to cover the operation portion 6 with a watertight cover except for the operation element 33. However, in order to make the operation unit 30 disposable, the operation unit 6 may be exposed to the outside.

The ball 31 is composed of a sphere or a part of the sphere. Further, the ball 31 has a rotation center 31C which is the center of the sphere, and in the present embodiment, the ball 31 is rotatable about the rotation center 31C in four directions (R1, R2, R3, R4). It is held by the receiver 32.

Further, an operator 33 that is rotatable with the ball 31 in four directions (R1, R2, R3, R4), that is, that rotates the ball 31 in four directions, is fixed to the surface 31f of the ball 31.

Further, on the surface 31f of the ball 31, the other ends 21ub to 21l of the wires 21u to 21l are located at positions equidistant from the operator 33 along the rotation directions (R1, R2, R3, R4) of the ball 31 in the four directions. Wire receivers 25u to 25l to which 21 lbs are individually fixed are provided. That is, the other ends 21 ub to 21 lb of the wires 21 u to 21 l are connected to the ball 31.

The ends 21ua, 21da, 21ra, and 21la of the wires 21u to 21l are connected to the distal end side of the bending portion 3, respectively. Further, the intermediate portions 21 um, 21 dm, 21 rm, and 21 dm between the respective one ends 21 ua to 21 la and the respective other ends 21 ub to 21 lb are located inside the insertion portion 5 and the operation portion 6.

Further, as described above, in the parts of the wires 21u to 21l on the other end 21ub to 21lb side, the wire receivers 25u to 25l to which the other ends 21ub to 21lb are fixed are arranged along the rotation directions R1 to R4 of the surface 31f. By being fixed in the position, it is wound around the surface 31f along the rotation directions R1 to R4 and is positioned.

The ball receiver 32 holds the ball 31 rotatably, and is fixed to a frame body (not shown) provided in the operation portion 6 or an exterior housing of the operation portion 6.

A direction in which the ball 31 rotates in any of the rotation directions R1 to R4 corresponding to the rotation directions R1 to R4 along the wires 21u to 21l wound around the surface 31f of the ball 31 with respect to the ball receiver 32. The movement locus is regulated so as to wind any of the intermediate portions 21um to 21lm of the wires 21u to 21l along with any of the rotation directions R1 to R4 along with the rotation, that is, the rotation direction R1 to R1 on the surface 31f. Grooves 32u to 32l for guiding along any one of R4 are formed.

The groove 32u guides the intermediate portion 21dm, the groove 32d guides the intermediate portion 21um, the groove 32r guides the intermediate portion 21lm, and the groove 32l guides the intermediate portion 21rm.

When the ball 31 is rotated by the manipulator 33 in any of the rotation directions R1 to R4, the manipulator 33 can be fitted into the grooves 32u to 32l.

Further, when the manipulator 33 comes into contact with the grooves 32u to 32l, end portions 32ue, 32de, 32re, 32le (end portions 32ue, 32re are not shown) that define the maximum rotation angle of the ball 31 are formed, respectively. ing.

As shown in FIG. 2, in order to regulate the movement locus of the intermediate portions 21um to 21lm of the wires 21u to 21l along the above-mentioned surface 31f, the extension direction of the intermediate portions 21um to 21lm is regulated in the operation portion 6. , A wire direction changing member that changes from one end 21ua to 21la to the other end 21ub to 21lb, that is, from the longitudinal axis direction N of the insertion portion 5 toward the rotation directions R1 to R4, respectively, and the intermediate portion 21um to 21lm. A pulley 60 wound around the outer periphery may be provided. In other words, the intermediate portions 21um to 21lm may be wound around the surface 31f via the pulley 60.

The configuration of the other spherical joystick mechanism 10 is the same as that of the conventional joystick mechanism.

Next, the operation of bending the bending portion 3 in any of the four directions of up, down, left and right by using the spherical joystick mechanism 10 configured as described above will be described.

First, when the operator wants to bend the bending portion 3 upward, the operator grips the operator 33 and moves (tilts) the operator 33 from the position of the operator 33 shown in FIG. Into the groove 32u.

As a result, when the ball 31 rotates in the rotation direction R1, the intermediate portion 21um of the wire 21u is wound in an arc shape on the surface 31f along the rotation direction R1 in a state where the movement locus is regulated by the groove 32d. By being pulled, the wire 21u is pulled. Therefore, the bending portion 3 is bent upward. The maximum bending angle of the bending portion 3 is defined by the contact with the end portion 32ue of the operator 33.

When the operator wants to bend the bending portion 3 downward, the operator grips the operator 33 and moves (tilts) the operator 33 in the rotation direction R2 from the position of the operator 33 shown in FIG. Is fitted into the groove 32d.

As a result, when the ball 31 rotates in the rotation direction R2, the intermediate portion 21dm of the wire 21d is wound in an arc shape on the surface 31f along the rotation direction R2 in a state where the movement locus is restricted by the groove 32u. As the wire is pulled, the wire 21d is pulled. Therefore, the bending portion 3 is bent downward. The maximum bending angle of the bending portion 3 is defined by the contact with the end portion 32de of the operator 33.

Further, when the operator wants to bend the bending portion 3 to the right, the operator holds the operator 33 and moves from the position of the operator 33 shown in FIG. 5 to the rotation direction R3 as shown in FIGS. 3 and 4. The operator 33 is moved (tilted) and fitted into the groove 32r.

As a result, when the ball 31 rotates in the rotation direction R3, the intermediate part 21rm of the wire 21r is wound in an arc shape on the surface 31f along the rotation direction R3 in a state where the movement trajectory is restricted by the groove 32l. As the wire is pulled, the wire 21r is pulled. Therefore, the bending portion 3 is bent rightward. The maximum bending angle of the bending portion 3 is defined by the contact of the operator 33 with the end portion 32re.

Further, when the operator wants to bend the bending portion 3 to the left, the operator holds the operator 33 and moves (tilts) the operator 33 from the position of the operator 33 shown in FIG. Is inserted into the groove 32l.

As a result, when the ball 31 rotates in the rotation direction R4, the intermediate portion 21lm of the wire 21l is wound in an arc shape on the surface 31f along the rotation direction R4 in a state where the movement locus is regulated by the groove 32r. As the wire is pulled, the wire 21l is pulled. Therefore, the bending portion 3 is bent leftward. The maximum bending angle of the bending portion 3 is defined by the contact of the operator 33 with the end portion 32le.

As described above, the spherical joystick mechanism 10 is used, and the bending portion 3 is bent in any of the up, down, left, and right directions. The other operations are the same as those of the conventional joystick mechanism.

As described above, in the present embodiment, the spherical joystick mechanism 10 causes the operation element 33 to be fitted in any of the grooves 32u to 32l and rotate the ball 31 in any of the rotation directions R1 to R4. By winding any of the intermediate portions 21um to 21lm of the wires 21u to 21l around the surface 31f of the ball 31 in an arc shape in a state where the movement trajectory is regulated by any of the grooves 32u to 32l, the wires 21u to 21l are wound. It has been shown that the bending portion 3 is bent in any of the up, down, left, and right directions by pulling any of the above.

According to this, unlike the conventional joystick mechanism, by tilting the bending operation lever as an operator in any of the four directions, one of the four wires is pulled, and Even if the same operator has the same tilt angle and tilt force, in the present embodiment, one of the wires 21u to 21l is wound by drawing an arcuate locus on the surface 31f of the ball 31. Therefore, it is known that the wire pulling amount increases by about 12%.

Further, in the joystick mechanism in the conventional product, the maximum tilt angle of the operator is about 60°, whereas in the main spherical joystick mechanism 10 having the same diameter, the operator 33 is configured to rotate together with the ball 31. Since the tilt range of 33 is increased, the maximum tilt angle of the operator 33 can be increased to about 80°, and the wire pulling amount can also be increased by about 50%.

Therefore, the wire pulling amount can be increased without providing a mechanism for separately increasing the wire pulling amount in the operation unit 6 as in the conventional case, and thus the operation element 33 for pulling the wire largely can be provided. It is possible to prevent the amount of operating force from increasing.

Further, in the present embodiment, only one spherical joystick mechanism 10 can bend the bending portion 3 in any of the up, down, left and right directions with the same wire pulling amount as in the conventional angle knob mechanism. ..

From the above, a spherical joystick mechanism 10 having a configuration capable of increasing the pulling amount of four wires with one mechanism without increasing the size of the pulling mechanism while maintaining the amount of operation force of the operation unit 30 is provided. be able to.

In addition, below, a modification is shown. FIG. 6 is a perspective view showing a modified example in which the groove of the ball receiver of the operation unit of FIG. 3 is shallowly formed.

In the above-described present embodiment, the case where the bending portion 3 is bent in four directions has been described as an example, but the present embodiment is not limited to this, and the present embodiment is applied to a case where the bending portion 3 is bent in at least three directions or more. The spherical joystick mechanism 10 in the form of is applicable.

In this case, the spherical joystick mechanism 10 has the number of wires, the number of wire receivers, and the number of grooves according to the number of bending directions of the bending portion 3.

However, as shown in FIG. 6, by forming the grooves 32u to 32l formed in the ball receiver 32 to be shallow, the tilting direction of the operator 33, that is, the rotating direction of the ball 31 is increased to R1 to R8. Thus, even with the four wire receivers 25u to 25l, the four wires 21u to 21l, and the four grooves 32u to 32l, the wire 21u and the wire 21r, the wire 21u and the wire 21l, the wire 21d and the wire 21r, and the wire The spherical joystick mechanism 10 may have a configuration in which the bending portion 3 is bent in eight directions by pulling one of the wire 21d and the wire 21l.

(Second embodiment)
7 is a perspective view showing the operation unit in the spherical joystick mechanism of the present embodiment in a state in which the rotating body rotates in one direction together with the wire, and FIG. 8 shows the operation unit in FIG. 7 from the direction VIII in FIG. 9 is a top view showing a non-rotating state of the rotating body in the operation unit of FIG. 8, and FIG. 10 is a sectional view of the operation unit taken along line XX in FIG.

The configuration of the spherical joystick mechanism of the second embodiment is different from that of the spherical joystick mechanism of the first embodiment shown in FIGS. 1 to 5 described above in terms of the number of grooves formed in the ball receiver and the operation. The number of tilt directions of the child differs from the number of rotation directions of the ball associated with the number of tilt directions.

Therefore, only this difference will be described, the same configurations as those in the first embodiment will be denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIGS. 7 to 10, the spherical joystick mechanism 10 includes an operation unit 130 provided in the operation unit 6, and wires 21u, 21d, 21r, and 21l inserted into the insertion unit 5 and the operation unit 6, Wire receivers 25u, 25d, 25r, 25l provided at the other ends 21ub, 21db, 21rb, 21lb of the wires 21u, 21d, 21r, 21l, and grooves 132u, 132d serving as wire movement restricting portions and guide portions. , 132r, 132l, 132ur, 132ul, 132dr, 132dl, the main part is configured.

The operation unit 130 includes a ball 31, a ball receiver 132 that is a holding member, and an operator 133, and constitutes a main part.

The operation unit 130 is preferably provided so as to cover the operation unit 6 with a watertight cover except for the operation element 133. However, in order to make the operation unit 130 disposable, the operation unit 6 may be provided so as to be exposed to the outside.

The ball 31 is composed of a sphere or a part of the sphere, and in the present embodiment, 8 directions (R1, R2, R3, R4, R5, R6, R7, R8) centering on the rotation center 31C. It is rotatably held by the ball receiver 132.

In addition, the surface 31f of the ball 31 is rotatable with the ball 31 in eight directions (R1, R2, R3, R4, R5, R6, R7, R8, in other words, an operator 133 for rotating the ball 31 in eight directions). A shaft (not shown) is fixed.

Further, the portions of the wires 21u to 21l on the side of the other ends 21ub to 21lb are the wire receivers 25u to 25l to which the other ends 21ub to 21lb are fixed and the rotational direction of the surface 31f, as in the first embodiment described above. By being fixed at a position along R1 to R4, it is wound around the surface 31f along the rotational directions R1 to R4.

Note that, also in the present embodiment, as shown in FIG. 2, the extending directions of the intermediate portions 21um to 21lm of the wires 21u to 21l in the operating portion 6 are respectively the rotational directions from the longitudinal axis direction N of the insertion portion 5. A pulley 60 may be provided in which the intermediate portions 21um to 21lm that change toward R1 to R4 are wound around the outer circumference.

The ball receiver 132 holds the ball 31 rotatably, and is fixed to a frame body (not shown) provided in the operation portion 6 or an exterior housing of the operation portion 6.

In addition, with respect to the ball receiver 132, whichever of the intermediate portions 21um to 21lm of the wires 21u to 21l corresponding to the direction in which the ball 31 rotates in any of the rotation directions R1 to R8 in correspondence with the rotation directions R1 to R8. Grooves 132u, 132d, 132r for restricting the movement locus so as to wind them along any one of the rotation directions R1 to R8 with rotation, that is, to guide the surface 31f along any one of the rotation directions R1 to R8. , 132l, 132v, 132w, 132x, 132y are formed.

The groove 132u guides the intermediate portion 21dm, the groove 132d guides the intermediate portion 21um, the groove 132r guides the intermediate portion 21lm, and the groove 132l guides the intermediate portion 21rm.

Further, as shown in FIGS. 8 and 10, a groove 132v is formed on the inner surface 132h of the ball receiver 132 in a direction connecting the groove 132u and the groove 132l. Further, a groove 132w is formed in a direction connecting the groove 132d and the groove 132r. Further, a groove 132x is formed in a direction connecting the groove 132du and the groove 132r. A groove 132y is formed in the direction connecting the groove 132d and the groove 132l.

The groove 132v guides the intermediate portion 21dm or the intermediate portion 21rm, and the groove 132w guides the intermediate portion 21um or the intermediate portion 21lm. Further, the groove 132x guides the intermediate portion 21dm or the intermediate portion 21lm, and the groove 132y guides the intermediate portion 21um or the intermediate portion 21rm.

When the ball 31 is rotated by the operator 133 in any of the rotation directions R1 to R8, the operator 133 can be inserted into the grooves 132u, 132d, 132r, 132l, 132ur, 132ul, 132dr, 132dl. ing.

Further, the shaft body of the operator 133 abuts on the grooves 132u, 132d, 132r, 132l, 132ur, 132ul, 132dr, 132d. As a result, the end portions 132ue, 132de, 132re, 132le, 132ure, 132ule, 132dre, 132dle (other than the end portions 132re, 132de, 132ure, 132dre) that define the maximum rotation angle of the ball 31 are formed. ing.

The configuration of the other spherical joystick mechanism 10 is the same as that of the first embodiment.

Next, the operation of bending the bending portion 3 in any of the up, down, left, and right directions or a combination thereof by using the spherical joystick mechanism 10 configured in this way will be described.

First, when the operator wants to bend the bending portion 3 upward, the operator holds the operator 133 and moves (tilts) the operator 133 from the position of the operator 133 shown in FIG. 9 in the rotation direction R1 to move the operator 133. Is inserted into the groove 132u.

As a result, when the ball 31 rotates in the rotation direction R1, the intermediate portion 21um of the wire 21u is wound in an arc shape on the surface 31f along the rotation direction R1 in a state in which the movement locus is regulated by the groove 132d. By being pulled, the wire 21u is pulled.

Therefore, the bending portion 3 is bent upward. The maximum bending angle of the bending portion 3 is defined by the contact of the operating element 133 with the end portion 132ue of the shaft body.

When the operator wants to bend the bending portion 3 downward, the operator holds the operator 133 and moves (tilts) the operator 133 from the position of the operator 133 shown in FIG. 9 in the rotation direction R2 to move the operator 133. Is inserted into the groove 132d.

As a result, when the ball 31 rotates in the rotation direction R2, the intermediate portion 21dm of the wire 21d is wound in an arc shape on the surface 31f along the rotation direction R2 in a state where the movement locus of the wire is regulated by the groove 132u. As the wire is pulled, the wire 21d is pulled.

Therefore, the bending portion 3 is bent downward. The maximum bending angle of the bending portion 3 is defined by the contact of the operating element 133 with the end portion 132de of the shaft body.

Further, when the operator wants to bend the bending portion 3 to the right, the operator holds the operator 133 and moves (tilts) the operator 133 in the rotation direction R3 from the position of the operator 133 shown in FIG. Is inserted into the groove 132r.

As a result, when the ball 31 rotates in the rotation direction R3, the intermediate portion 21rm of the wire 21r is wound in an arc shape on the surface 31f along the rotation direction R3 in a state where the movement locus of the wire 21r is restricted by the groove 132l. As the wire is pulled, the wire 21r is pulled.

Therefore, the bending portion 3 is bent rightward. The maximum bending angle of the bending portion 3 is defined by the contact of the operating element 133 with the end portion 132re of the shaft body.

When the operator wants to bend the bending portion 3 to the left, the operator holds the operator 133 and moves (tilts) the operator 133 in the rotation direction R4 from the position of the operator 133 shown in FIG. Is inserted into the groove 132l.

As a result, when the ball 31 rotates in the rotation direction R4, the intermediate portion 21lm of the wire 21l is wound in an arc shape on the surface 31f along the rotation direction R4 in a state where the movement locus is restricted by the groove 132r. As the wire is pulled, the wire 21l is pulled.

Therefore, the bending portion 3 is bent leftward. The maximum bending angle of the bending portion 3 is defined by the contact of the manipulator 133 with the end portion 132le of the shaft body.

Further, when the operator wants to bend the bending portion 3 in the combined direction of the upward direction and the right direction, the operator holds the operating element 133, and from the position of the operating element 133 shown in FIG. As described above, the operator 133 is moved (tilted) in the rotation direction R5 to fit the operator 133 into the groove 132ur.

As a result, the ball 31 rotates in the rotation direction R5, so that the intermediate portions 21um and 21rm of the wire 21u and the wire 21r have their movement paths restricted by the grooves 132v and 132w. The wires 21u and 21r are pulled by being wound around 31f in an arc shape.

Therefore, the bending portion 3 is bent in a combined direction of the upper direction and the right direction. The maximum bending angle of the bending portion 3 is defined by the contact of the operating element 133 with the end portion 132ure of the shaft body.

In addition, when the operator wants to bend the bending portion 3 in the combined direction of the downward direction and the left direction, the operator holds the operator 133 and moves from the position of the operator 133 shown in FIG. 9 to the rotation direction R6 (tilting). ) And the operator 133 is fitted into the groove 132dl.

As a result, when the ball 31 rotates in the rotation direction R6, the wire 21d and the intermediate portions 21dm and 21lm of the wire 21l are moved along the surface in the rotation direction R6 in a state where the movement paths of the wires 21d and 21lm are restricted by the grooves 132v and 132w. The wires 21d and 21l are pulled by being wound around 31f in an arc shape.

Therefore, the bending portion 3 is bent in the downward and leftward combined directions. The maximum bending angle of the bending portion 3 is defined by the contact of the operating element 133 with the end portion 132dle of the shaft body.

Further, when the operator wants to bend the bending portion 3 in a combined direction of the upper direction and the left direction, the operator holds the operator 133 and moves from the position of the operator 133 shown in FIG. 9 to the rotation direction R7 (tilting). ) And insert the operator 133 into the groove 132ul.

As a result, the ball 31 rotates in the rotation direction R7, and the wires 21u and the intermediate portions 21um and 21lm of the wire 21l are moved along the surface in the rotation direction R7 in a state where the movement loci of the wires 21u and 21lm are restricted by the grooves 132x and 132y. The wires 21u and 21l are pulled by being wound around 31f in an arc shape.

Therefore, the bending portion 3 is bent in a combined direction of the upper direction and the left direction. The maximum bending angle of the bending portion 3 is defined by the abutment of the manipulator 133 with the end portion 132ule of the shaft body.

In addition, when the operator wants to bend the bending portion 3 in the combined direction of the downward direction and the right direction, the operator holds the operator 133 and moves from the position of the operator 133 shown in FIG. 9 to the rotation direction R8 (tilt). ) And the operator 133 is fitted into the groove 132dr.

As a result, the ball 31 rotates in the rotation direction R8, so that the intermediate portions 21dm and 21rm of the wire 21d and the wire 21r have their movement loci regulated by the grooves 132x and 132y. The wires 21d and 21r are pulled by being wound around 31f in an arc shape.

Therefore, the bending portion 3 is bent in the combined direction of the downward direction and the right direction. The maximum bending angle of the bending portion 3 is defined by the contact of the operating element 133 with the end portion 132dre of the shaft body.

As described above, the spherical joystick mechanism 10 is used, and the bending portion 3 is bent in any of the up, down, left, and right directions or a combined direction of these.

The other operations are the same as those of the first embodiment, and even with such a configuration, in one spherical joystick mechanism 10, while obtaining the same effect as that of the first embodiment, eight and further to the inner surface 132h. The four grooves formed can be used to bend the bending portion in eight directions.

In addition, in the above-described first and second embodiments, the wire movement restricting portion is described as a groove formed in the ball receiver, but the present invention is not limited to this, and the groove formed in the surface 31f of the ball 31 is not limited to this. Of course, it is okay.

This application applies for Japanese Patent Application No. 2017-197536 filed in Japan on October 11, 2017 as a basis for claiming priority, and the above-mentioned contents are the present specification, claims and drawings. Is quoted in.

The present invention, the curved portion is towed member is connected to one end, an endoscope comprising an endoscope for wire pulling device including a wire the other end connected to the rotating body of the operating unit.

The present invention has been made in view of the above problems, and it is possible to increase the pulling amount of at least three wires with one mechanism without increasing the size of the pulling mechanism while maintaining the operation force amount of the operation unit. It is an object of the present invention to provide an endoscope having a configuration that can be performed.

An endoscope according to an aspect of the present invention includes an insertion portion that is inserted into a subject and has a curved portion, and a rotation center that is disposed on the proximal end side of the insertion portion and that has a rotation center. One rotating body rotatably held in at least three directions, an operator provided on the rotating body so that an operator can rotate the rotating body in the at least three directions, one end, the other end, and the one end. and an intermediate portion between the other end and the one said curved portion is connected to at least three wires the other end connected to the rotating body, relative to the previous SL rotating body The intermediate portion of the wire, which is provided corresponding to at least three directions along the at least three wires and corresponds to the direction in which the rotating body rotates in the at least three wires, is rotated by the rotation. A wire guide formed so as to be wound around the moving body.
An endoscope according to another aspect of the present invention includes an insertion portion that is inserted into a subject and has a curved portion, and a rotation center that is disposed on the proximal end side of the insertion portion and that has the rotation center. A ball that is rotatably held in the center or that is composed of a part of the sphere, an operator provided on the ball so that an operator can rotate the ball, and one end and the other end. A wire having an intermediate portion between the one end and the other end, the bending portion being connected to the one end, and the other end being connected to the ball, and the wire along the wire with respect to the ball A wire guide that is provided corresponding to the direction, and that is configured to wind the intermediate portion of the wire corresponding to the direction in which the ball of the wire rotates around the ball along with the rotation.

Perspective view of the endoscope according to the first embodiment. The figure which shows roughly the structure of the spherical joystick mechanism provided in the endoscope of FIG. The perspective view which expands and shows the operation unit of FIG. 2 in the state which the rotating body rotated to one direction with the wire. FIG. 3 is a top view of the operation unit of FIG. 3 seen from the IV direction in FIG. The top view which shows the non-rotating state of the rotating body in the operation unit of FIG. 3 is a perspective view showing a modified example in which the groove of the ball receiver of the operation unit of FIG. 3 is formed shallowly. The perspective view which shows the operation unit in the spherical joystick mechanism of the endoscope of 2nd Embodiment in the state which the rotating body rotated to one direction with the wire. FIG. 7 is a top view of the operation unit of FIG. 7 viewed from the VIII direction in FIG. 7. The top view which shows the non-rotating state of the rotating body in the operation unit of FIG. Sectional drawing of the operation unit along the line XX in FIG.

(First embodiment)
FIG. 1 is a perspective view of the endoscope according to the present embodiment.

From the above, the endoscope 1 having a configuration capable of increasing the pulling amount of four wires by one mechanism without increasing the size of the pulling mechanism while maintaining the operation force amount of the operation unit 30 is provided. be able to.

7 is a perspective view showing the operation unit in the spherical joystick mechanism of the endoscope of the present embodiment in a state in which the rotating body rotates in one direction together with the wire, and FIG. 8 shows the operation unit in FIG. 7 in FIG. 9 is a top view seen from the VIII direction, FIG. 9 is a top view showing a non-rotating state of the rotating body in the operation unit of FIG. 8, and FIG. 10 is a sectional view of the operation unit taken along the line XX in FIG.

The configuration of the spherical joystick mechanism of the endoscope of the second embodiment is formed on the ball receiver as compared with the spherical joystick mechanism of the endoscope of the first embodiment shown in FIGS. 1 to 5 described above. The number of grooves to be formed, the number of tilting directions of the operator, and the number of ball rotating directions associated with the number of tilting directions are different.

Claims (9)

An operating unit comprising a rotating body having a rotation center and rotatably held in at least three directions around the rotation center;
At least three wires having one end, the other end, and an intermediate portion between the one end and the other end, the towed member being connected to the one end, and the other end being connected to the rotating body,
At least three wire fixing portions provided on the rotating body, and the other ends of the at least three wires are separately fixed, respectively;
The intermediate portion of the wire, which is provided corresponding to at least three directions along the at least three wires with respect to the operation unit, and corresponds to the direction in which the rotating body rotates in the at least three wires, A wire movement restricting portion that restricts the wire from winding around the rotating body as it rotates.
A wire pulling device for an endoscope, comprising: The rotating body is a sphere or a part of the sphere,
The wire pulling device for an endoscope according to claim 1, wherein the rotation center is a center of the sphere. The operation unit includes a holding member that rotatably holds the rotating body,
The wire movement restricting portion is a guide portion formed on the holding member for guiding the intermediate portion of the at least three wires along the surface of the rotating body. Wire pulling device for endoscopes. The wire pulling device for an endoscope according to claim 3, wherein the guide portion is a groove formed in the holding member. The wire pulling device for an endoscope according to claim 4, wherein an end portion that defines a maximum rotation angle of the rotating body in the at least three directions is formed in the groove. The operation unit includes an operator fixed to the rotating body, rotated together with the rotating body, and insertable into the groove.
The wire pulling device for an endoscope according to claim 5, wherein the end portion is formed in at least three positions on the holding member so that the operator is brought into contact therewith. The intermediate portion of the at least three wires is rotated through wire direction changing members that change the extending direction of the at least three wires from the one end side toward the other end side. The wire pulling device for an endoscope according to claim 1, wherein the wire pulling device is wound around a moving body. The wire pulling device for an endoscope according to claim 7, wherein the wire direction changing member is a pulley around which the at least three wires are wound. The wire pulling device for an endoscope according to claim 1, wherein the wire movement restricting portion is at least three grooves formed on the surface of the rotating body along the at least three directions.

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